Quds Day, also know as Al-Quds day, is an annual international event held towards the end of Ramadan.
Muslims were joined by Jews in the rally against Zionism that started near BBC Broadcasting House in Portland Place, central London, at around 3.30pm.
Pro-Palestinian protestors were met by a counter-demonstration in support of Israel outside the US Embassy.
A few hundred pro-Israel demonstrators and the opposing march exchanged a battle of words while lines of police kept them physically separated.
Ahead of the march, protestor Mohammad Saeed, 58, of Kingsbury, north west London, said: "Our demonstration shows we do not agree with what's going on in Palestine."
Pesach Shloime Hirsch was one of around a dozen Orthodox Jews who joined in with anti-Zionism protestors.
Mr Hirsch, a 47-year-old nutrition researcher who travelled from Manchester to take part, said: "We are here to show solidarity with the Palestinians who are suffering."